Title :
Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots
Author :
Morin, Pascal ; Samson, Claude
Author_Institution :
INRIA, Sophia-Antolis, France
Abstract :
A characterization of the Lie algebra rank condition by transverse periodic functions is applied to feedback stabilization of a class of nonlinear systems. The approach is illustrated on controllable homogeneous driftless systems subjected to known additive perturbations. A generalized path tracking problem for mobile robots is then addressed, in connection with some aspects of the path planning problem
Keywords :
Lie algebras; controllability; feedback; mobile robots; multidimensional systems; nonlinear control systems; path planning; polynomial matrices; stability; Lie algebra rank condition; additive perturbations; chain systems; controllable homogeneous driftless systems; feedback stabilization; generalized path tracking problem; transverse periodic functions; Algebra; Control systems; Controllability; Convergence; Feedback control; Linear systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Path planning;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.914274
